version: 66.11
revision: 1138
glider: 512
mission: 7
dive: 160
start: 5 16 116 7 33 8
data:
$ID,512
$MISSION,7
$DIVE,160
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,970
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,600
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52650
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,2155
$TGT_DEFAULT_LON,-15801
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,10
$NOCOMM_ACTION,13
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130009.09
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,206
$PITCH_MAX,3954
$C_PITCH,2685
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2762
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,142.39999
$AH0_10V,93.699997
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-90.971657
$PRESSURE_SLOPE,0.000165269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,165
$DEVICE4,131
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042942334
$SEABIRD_T_H,0.00062847038
$SEABIRD_T_I,2.3239887e-05
$SEABIRD_T_J,2.4096664e-06
$SEABIRD_C_G,-9.769515
$SEABIRD_C_H,1.0891893
$SEABIRD_C_I,0.00078893855
$SEABIRD_C_J,5.7872021e-06
$GPS1,160516,072501,3448.637,-15808.144,35,1.1,35,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.3
$GPS2,160516,073228,3448.584,-15808.105,5,0.9,6,11.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.001,-0.285
$KALMAN_X,-2644.9,788.8,61.0,924.2,-5790.6
$KALMAN_Y,208676.8,-776.9,-825.4,-298047.0,8369.7
$MHEAD_RNG_PITCHd_Wd,168.1,1340148,-16.4,-10.000,-19.35,2731
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.72,-136.3,166,2305,1105,1223,0.0,0.0,0,87,0.00,0.00,-69.85,0.000,16386,0.000,0.000,166,2307,2853,2831,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.72,-136.3,165,2308,2831,2876,3.2,-2.3,8,119,8.90,0.10,-12.57,0.000,18692,0.219,0.375,2447,4095,3317,3315,3320,0,0,0,0,0,0,25.77,25.87,26.37
$GC,719,-0.72,-136.3,1600,4070,3307,3317,141.8,-20.7,68,729,0.00,0.17,0.00,0.000,3078,0.000,0.061,2447,2249,3319,3318,3320,0,0,0,0,0,0,28.83,26.45,28.83
$GC,966,-0.72,-136.3,2447,2248,3318,3320,193.0,-20.0,93,969,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3319,3319,3320,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1474,-0.72,-136.3,2447,4095,3320,3320,287.1,-19.2,108,1477,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2240,3320,3320,3320,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1731,-0.72,-136.3,2447,2239,3320,3320,341.2,-19.2,115,1734,0.00,0.20,0.00,0.000,2308,0.000,0.063,2448,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2234,-0.72,-136.3,2447,4095,3320,3320,433.2,-18.9,127,2238,0.00,0.20,0.00,0.000,3078,0.000,0.057,2447,2250,3320,3320,3320,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2491,-0.72,-136.3,2447,2250,3320,3320,484.8,-18.1,134,2494,0.00,0.17,0.00,0.000,2308,0.000,0.070,2448,4095,3320,3320,3320,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2994,-0.72,-136.3,2447,4095,3319,3319,571.2,-17.8,146,2998,0.00,0.20,0.00,0.000,3078,0.000,0.057,2447,2245,3319,3319,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3251,-0.72,-136.3,2447,2244,3319,3319,620.8,-17.7,153,3255,0.00,0.17,0.00,0.000,2308,0.000,0.070,2447,4095,3319,3319,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3755,-0.72,-136.3,2447,4095,3318,3319,703.1,-16.7,165,3758,0.00,0.20,0.00,0.000,3078,0.000,0.056,2447,2238,3318,3318,3319,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4012,-0.72,-136.3,2447,2238,3318,3318,750.3,-16.7,172,4015,0.00,0.20,0.00,0.000,2308,0.000,0.064,2447,4095,3317,3317,3318,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4515,-0.72,-136.3,2447,4095,3316,3316,830.4,-16.6,184,4519,0.00,0.20,0.00,0.000,3078,0.000,0.058,2447,2247,3316,3316,3316,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4772,-0.72,-136.3,2447,2247,3316,3315,876.6,-16.3,191,4775,0.00,0.17,0.00,0.000,2308,0.000,0.073,2447,4095,3315,3316,3315,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4931,begin apogee
$GC,4935,-0.17,0.0,2447,2238,3315,3314,902.5,-16.2,195,5055,0.55,0.10,116.28,1.112,10246,0.118,0.096,2626,2303,2762,2774,2750,0,0,0,0,0,0,26.54,25.00,24.34
$STATE,5056,end apogee,CONTROL_FINISHED_OK
$STATE,5056,begin climb
$GC,5058,0.72,136.3,2626,2303,2773,2749,908.9,0.0,198,5191,0.80,2.38,122.40,1.058,10756,0.054,0.050,2926,937,2205,2242,2169,0,0,0,0,0,0,25.15,24.76,24.08
$GC,5421,0.72,136.3,2925,937,2233,2163,852.5,21.4,207,5425,0.00,2.17,0.00,0.000,1030,0.000,0.050,2917,2285,2198,2233,2163,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5693,0.72,136.3,2917,2284,2231,2161,793.6,21.0,214,5697,0.00,2.12,0.00,0.000,4612,0.000,0.048,2926,933,2196,2231,2161,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5717,0.72,136.3,2926,933,2231,2161,793.6,21.0,214,5721,0.00,2.22,0.00,0.000,5126,0.000,0.049,2917,2299,2195,2230,2161,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5969,0.72,136.3,2917,2298,2229,2161,736.1,20.4,221,5972,0.00,0.08,0.00,0.000,4356,0.000,0.110,2917,4095,2195,2230,2161,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6318,0.72,136.3,2917,4095,2228,2160,668.3,21.5,229,6321,0.00,0.17,0.00,0.000,5126,0.000,0.064,2917,2249,2194,2228,2160,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6569,0.72,136.3,2917,2249,2227,2160,610.9,20.1,236,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2249,2193,2227,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6809,0.72,136.3,2917,2249,2226,2159,563.8,19.7,242,6812,0.00,0.17,0.00,0.000,260,0.000,0.076,2917,4095,2193,2226,2160,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7312,0.72,136.3,2917,4095,2225,2159,469.7,21.0,254,7316,0.00,0.17,0.00,0.000,1030,0.000,0.063,2917,2256,2192,2225,2159,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7570,0.72,136.3,2917,2255,2224,2159,408.5,21.4,261,7573,0.00,0.17,0.00,0.000,260,0.000,0.075,2917,4095,2191,2224,2159,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7633,0.72,136.3,2917,4095,2224,2159,399.8,21.1,262,7637,0.00,0.20,0.00,0.000,1030,0.000,0.057,2917,2245,2191,2224,2159,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7890,0.72,136.3,2917,2245,2224,2160,345.0,19.1,269,7894,0.00,2.03,0.00,0.000,516,0.000,0.046,2927,926,2191,2224,2159,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7949,0.72,136.3,2926,926,2223,2159,338.4,18.8,270,7954,0.00,2.17,0.00,0.000,5126,0.000,0.047,2918,2298,2191,2223,2160,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8206,0.72,136.3,2918,2296,2223,2159,287.5,17.9,277,8210,0.00,0.08,0.00,0.000,4356,0.000,0.109,2918,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8279,0.72,136.3,2917,4095,2223,2159,280.1,18.1,278,8286,0.00,0.20,0.00,0.000,1030,0.000,0.058,2917,2244,2191,2223,2159,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8527,0.72,136.3,2917,2243,2223,2159,229.8,18.2,285,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2243,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8767,0.72,136.3,2917,2243,2224,2159,185.1,18.7,294,8770,0.00,0.20,0.00,0.000,260,0.000,0.070,2917,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8846,0.72,136.3,2917,4095,2223,2159,171.1,18.4,301,8849,0.00,0.17,0.00,0.000,1030,0.000,0.062,2917,2246,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9097,0.72,136.3,2917,2246,2223,2159,124.9,17.7,326,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2246,2191,2223,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9336,0.72,136.3,2917,2246,2223,2159,83.1,15.7,350,9340,0.00,0.17,0.00,0.000,4356,0.000,0.069,2918,4095,2191,2223,2159,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9611,0.72,136.3,2917,4095,2223,2159,35.9,19.9,372,9613,0.00,0.20,0.00,0.000,5126,0.000,0.056,2918,2241,2191,2223,2159,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9812,end climb,SURFACE_DEPTH_REACHED
$STATE,9812,begin surface coast
$FINISH,1.0,3.148905
$STATE,9834,end surface coast,CONTROL_FINISHED_OK
$STATE,9834,begin surface
$SM_CCo,9848,114.12,0.660,0,0,1171,390.02
$SM_GC,2.46,6.88,0.10,114.12,0.024,0.104,0.660,177,2309,1171,-7.73,-0.90,390.02,0,0,0,0,0,0,26.69,26.72,24.89
$IRIDIUM_FIX,3433.01,-15808.02,120309,181845
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.02
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,17.00
$XPDR_PINGS,340
$24V_AH,24.1,20.973
$10V_AH,10.3,11.885
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.125,17.875,238.675,114.125,0.000,28.667,52.057,270.442,85.000,0.000,7.106,1301.583,6021.228,395.508,2611.950,106.112,0.000,1309.938,0.000,1887.883,0.000,0.540,0.000
$DEVICE_MAMPS,218.790,374.850,1111.545,660.195,0.000,64.260,160.000,223.000,420.000,0.000,14.980,10.690,2.190,10.690,36.910,46.650,0.000,15.520,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,305.181,173.498,344.793,307.305,636.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,50.930,38.950,47.940,0.000,0.000,0.000,0.000,0.000
$MEM,353060
$DATA_FILE_SIZE,33928,402
$CAP_FILE_SIZE,101081,0
$CFSIZE,259248128,250679296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160516,102024,3447.632,-15808.523,15,2.5,36,11.3